function [POS,eul] = inspect(x_tool,y_tool,z_tool,R,Tool,joint)
fk=zeros(4,4,length(joint));
for i=1:length(joint)
fk(:,:,i)=kuka_8dof_forwardmatics(joint(i,1:7),Tool);
end
Pos=fk(1:3,4,:);
POS=reshape(Pos,3,length(Pos));
POS=POS';
error=sum(Pos(:,1,2)-[x_tool;y_tool;z_tool+R]);
if abs(error)>1e-10
    disp("程序逆解计算误差较大");
else
    eul=rad2deg(tform2eul(fk));
    disp("计算完毕，请检查POS数据与JOINT数据");
end
end